cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()


#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

set(WEBOTS_HOME $ENV{WEBOTS_HOME})

add_definitions(-I${WEBOTS_HOME}/include/controller/cpp -I${WEBOTS_HOME}/include -Wall -I${WEBOTS_HOME}/include/controller/c -DLINUX)

rosbuild_genmsg()


rosbuild_add_executable(CR1 src/ConR1.cc
							src/RosWebotsInterfaces/RWCamera.cc
							src/RosWebotsInterfaces/RWGPS.cc
							src/RosWebotsInterfaces/RWKinect.cc
							src/RosWebotsInterfaces/RWLaserServo.cc
							src/RosWebotsInterfaces/RWPiooneerDistSensors.cc
							src/RosWebotsInterfaces/RWRangeCamera.cc
							src/RobJointPublisher/RobotJointPub.cc)
							
#rosbuild_add_executable(listeners src/listeners.cpp)

find_library(CONTROLLER_LIBRARY CppController ${WEBOTS_HOME}/lib)
#find_library(NEWMAT newmat /usr/lib)

target_link_libraries(CR1 ${CONTROLLER_LIBRARY})
#target_link_libraries(detection ${NEWMAT})
#target_link_libraries(identification ${NEWMAT})


#uncomment if you have defined messages
#rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})
